Fully Automated System for Shield Tunnelling under Integrated Control

In recent years, with the overcrowding of cities in Japan, the use of underground space has become more and more intensive. As a result, the shield tunnelling method has been increasingly used for underground development. Also recently, the diameter of shield tunnels has increased, and the conditions under which the tunnels are constructed have become increasingly difficult. This has led to an increased need for automation technology to achieve labor savings and labor reductions, as well as achieving improvements in safety and precision. To meet these various needs, the authors have, since 1980, been involved in extensive research and development of shield tunnel automation, and has so far developed and put to practical use such developments as the Shield Machine Automatic Direction Control System, Automatic Segment Conveying System and Automatic Segment Erection Robot. This paper introduces a comprehensive automatic shield tunnelling system that enables almost completely automatic shield tunnel construction by the integration of the above mentioned systems.